A comparison of simulations and experimental tests on operation performance of CaPaMan2 bis

Conghui Liang, Giuseppe Carbone, Marco Ceccarelli, Eusebio Hernandez

Research output: Contribution to conferencePaper

2 Citations (Scopus)

Abstract

In this paper, operation performance of CaPaMan2 bis (Cassino Parallel Manipulator2 bis) has been investigated through numerical simulations and lab experimental tests. A 3D (three dimension) virtual model has been built in MSC.ADAMS environment to simulate the operation behaviour for different prescribed motions. MilIi-CaTraSys (Milli-Cassino Tracking System) has been implemented to measure position and orientation of the platform of the prototype CaPaMan2 bis during experimental tests. Several prescribed motions have been simulated and tested under different conditions in order to characterize the system behaviour. Finally, experiment results and simulation computations have been compared for the purpose of performance evaluation and design characterization of the manipulator structure and its prototype. ©2009 IEEE.
Original languageAmerican English
Pages3533-3538
Number of pages3179
DOIs
StatePublished - 1 Dec 2009
Externally publishedYes
Event2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009 -
Duration: 1 Dec 2009 → …

Conference

Conference2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
Period1/12/09 → …

Fingerprint

Manipulators
Computer simulation
Experiments

Cite this

Liang, C., Carbone, G., Ceccarelli, M., & Hernandez, E. (2009). A comparison of simulations and experimental tests on operation performance of CaPaMan2 bis. 3533-3538. Paper presented at 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009, . https://doi.org/10.1109/ICMA.2009.5246207
Liang, Conghui ; Carbone, Giuseppe ; Ceccarelli, Marco ; Hernandez, Eusebio. / A comparison of simulations and experimental tests on operation performance of CaPaMan2 bis. Paper presented at 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009, .3179 p.
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Liang, C, Carbone, G, Ceccarelli, M & Hernandez, E 2009, 'A comparison of simulations and experimental tests on operation performance of CaPaMan2 bis', Paper presented at 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009, 1/12/09 pp. 3533-3538. https://doi.org/10.1109/ICMA.2009.5246207

A comparison of simulations and experimental tests on operation performance of CaPaMan2 bis. / Liang, Conghui; Carbone, Giuseppe; Ceccarelli, Marco; Hernandez, Eusebio.

2009. 3533-3538 Paper presented at 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009, .

Research output: Contribution to conferencePaper

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Liang C, Carbone G, Ceccarelli M, Hernandez E. A comparison of simulations and experimental tests on operation performance of CaPaMan2 bis. 2009. Paper presented at 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009, . https://doi.org/10.1109/ICMA.2009.5246207